CN111852440A

CN111852440A - Crawling device

Info

Publication number: CN111852440A
Application number: CN201910334199.4A
Authority: CN
Inventors: 李洪军; 李树全; 张福兴; 杨显志; 张跃华; 吕志武; 何金宝; 黄丽; 周艳平; 岳鹏飞; 邹振巍; 王巍; 高磊岩
Original assignee: Petrochina Co Ltd
Current assignee: Petrochina Co Ltd
Priority date: 2019-04-24
Filing date: 2019-04-24
Publication date: 2020-10-30
Anticipated expiration: 2039-04-24
Also published as: CN111852440B

Abstract

The invention discloses a crawler, comprising: the casing, set up controller, first power component, the second power component in the casing to and support arm, gyro wheel, pressure sensor. Wherein, pressure sensor sets up on the gyro wheel, and is connected with the controller electricity. The controller is used for receiving the pressure data transmitted by the pressure sensor and controlling the first power assembly to work according to the pressure data. The first power assembly is connected with the supporting arm and used for driving the supporting arm to extend or retract. The roller is arranged at the end part of the supporting arm and is used for abutting against the inner wall of the shaft. The second power assembly is used for driving the roller to rotate. The invention can ensure that the logging instrument can be smoothly brought to the toe position of the shaft.

Description

Crawling device

Technical Field

The invention relates to the technical field of oil and gas exploration, in particular to a crawler.

Background

Because the horizontal well has a large production which is usually 3 to 5 times of that of the vertical well, the development of the horizontal well is emphasized in all large oil fields. However, the well logging after the horizontal well is drilled and the testing problem after the horizontal well is produced are still difficult problems of horizontal well development, and one of the main difficulties is how to put a well logging instrument into the toe position of the horizontal section.

The conditions of reducing, concave-convex and the like can occur in a shaft of the horizontal well, and no effective method for lowering a logging instrument to the toe position of the horizontal well exists in the prior art. Therefore, it is necessary to provide a crawler capable of pulling a logging tool to the toe position of a horizontal well.

Disclosure of Invention

The embodiment of the invention provides a crawler, which is used for bringing a well logging instrument to the toe position of a shaft, and comprises:

the device comprises a shell, a controller, a first power assembly, a second power assembly, a supporting arm, a roller and a pressure sensor, wherein the controller, the first power assembly and the second power assembly are arranged in the shell;

the pressure sensor is arranged on the roller and is electrically connected with the controller;

the controller is used for receiving pressure data transmitted by the pressure sensor and controlling the first power assembly to work according to the pressure data;

the first power assembly is connected with the supporting arm and used for driving the supporting arm to extend or retract;

the roller is arranged at the end part of the supporting arm and is used for abutting against the inner wall of the shaft;

the second power assembly is used for driving the roller to rotate.

Optionally, the first power assembly includes: the first motor, the first transmission shaft and the connecting piece;

The first motor is fixed in the shell;

the first transmission shaft is arranged at the output end of the first motor and used for driving the connecting piece to move along the axial direction under the driving of the first motor;

the connecting piece is connected with the supporting arm and used for driving the supporting arm to extend or contract.

Optionally, the first transmission shaft is a screw rod, and the first transmission shaft is in threaded connection with the connecting piece.

Optionally, the connecting member includes: a platform and a connecting rod;

the platform is in threaded connection with the first transmission shaft;

the two ends of the connecting rod are respectively connected with the platform and the supporting arm.

Optionally, the connecting rod is detachably connected with the supporting arm.

Optionally, the platform and the connecting rod are connected in a welding manner.

Optionally, the second power assembly comprises: the first motor, the first transmission shaft, the first gear and the plurality of second gears are arranged on the first transmission shaft;

the second motor is fixed in the shell;

the second transmission shaft is arranged at the output end of the second motor;

the first gear suit is in on the second transmission shaft, first gear, a plurality of second gears, the gyro wheel is transmission connection in order, just first gear with the axial direction looks vertically of a plurality of second gears.

Optionally, the support arm is a hollow structure;

a plurality of the second gears are disposed within the support arm.

Optionally, the first power assembly further comprises: a first decelerator;

the first transmission shaft is connected with the first motor through the first speed reducer.

Optionally, the second power assembly further comprises: a second decelerator;

the second transmission shaft is connected with the second motor through the second speed reducer.

According to the crawler provided by the embodiment of the invention, the second power assembly is arranged, so that power is provided for the rolling of the roller in the shaft, and the logging instrument can be smoothly brought to the toe position of the shaft. Through setting up first power component and support arm, make first power component control support arm extension or shrink according to the operating condition in the pit shaft, ensured that the gyro wheel offsets with the inner wall of pit shaft constantly to adapt to operating conditions such as reducing in the pit shaft, unsmooth. Through setting up controller and pressure sensor, can realize the automatic control to first power component according to the pressure that the gyro wheel received, improve the operating efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. In the drawings:

Fig. 1 is a schematic structural diagram of a crawler according to an embodiment of the present invention.

The reference numbers are as follows:

1, a shell body is arranged in the shell body,

2, a controller is used for controlling the operation of the device,

3 a first power assembly which is arranged on the base,

301 of the first motor is arranged to be,

302 a first drive shaft, which is rotatable,

303 a connecting piece is arranged at the front end of the main body,

3031 a platform comprising a plurality of support members,

3032 the connecting rod is connected with the connecting rod,

304 a first speed reducer is provided, the speed reducer,

4, a second power component and a second power component,

401 a second motor for the second motor, and,

402 a second drive shaft of the transmission device,

403 the second gear wheel of the first gear wheel,

404 a second speed reducer, the speed reducer being,

5 a support arm is arranged on the support arm,

6, the roller wheels are arranged on the upper surface of the frame,

7 pressure sensor.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

An embodiment of the present invention provides a crawler, as shown in fig. 1, the crawler includes: the device comprises a shell 1, a controller 2 arranged in the shell 1, a first power assembly 3, a second power assembly 4, a supporting arm 5, a roller 6 and a pressure sensor 7. Wherein, pressure sensor 7 sets up on gyro wheel 6, and is connected with controller 2 electricity. The controller 2 is used for receiving the pressure data transmitted by the pressure sensor 7 and controlling the first power assembly 3 to work according to the pressure data. The first power assembly 3 is connected with the support arm 5 and is used for driving the support arm 5 to extend or retract. Rollers 6 are provided at the ends of the support arms 5 for abutment against the inner wall of the shaft. The second power assembly 4 is used for driving the roller 6 to rotate.

When the logging instrument needs to be lowered into the toe position of the horizontal well (namely the innermost end of the horizontal well), the logging instrument is installed on the crawler, and the crawler is lowered into the horizontal well. The first power assembly 3 is used for driving the supporting arm 5 to extend to enable the supporting arm to be abutted against the inner wall of the horizontal well shaft. The second power assembly 4 is used for driving the roller 6 to rotate, and further driving the shell 1 and all parts inside the shell to move towards the toe position of the shaft. In the process, the pressure sensor 7 monitors the pressure applied to the roller 6 in real time and transmits the pressure data to the controller 2, when the pressure data exceeds a preset pressure value (the preset pressure value refers to the pressure value applied to the roller 6 when the roller abuts against the inner wall of the shaft), the controller 2 controls the first power assembly 3 to work, so that the first power assembly 3 drives the supporting arm 5 to contract, and when the pressure data is reduced to the preset pressure value, the first power assembly 3 stops working; when the pressure data is lower than the preset pressure value, the controller 2 controls the first power assembly 3 to work, so that the first power assembly 3 drives the supporting arm 5 to extend, and when the pressure data is increased to the preset pressure value, the first power assembly 3 stops working.

According to the crawler provided by the embodiment of the invention, the second power assembly 4 is arranged, so that power is provided for the rolling of the roller 6 in the shaft, and the logging instrument can be smoothly brought to the toe position of the shaft. Through setting up first power component 3 and support arm 5, make first power component 3 according to the actual condition control support arm 5 extension or shrink in the pit shaft, ensured that 6 inner walls with the pit shaft of gyro wheel offset constantly to adapt to operating modes such as reducing in the pit shaft, unsmooth. Through setting up controller 2 and pressure sensor 7, can realize the automatic control to first power component 3 according to the pressure that gyro wheel 6 received, improve the operating efficiency.

Wherein, the structure of support arm 5 can be many kinds, for example, it can be the bar body, the body of rod etc. as long as can realize the support to gyro wheel 6 can.

In the embodiment of the present invention, in order to ensure that the first power assembly 3 can smoothly drive the supporting arm 5 to extend or retract, as shown in fig. 1, the first power assembly 3 includes: first motor 301, first transmission shaft 302, connecting piece 303. Wherein the first motor 301 is fixed within the housing 1. The first transmission shaft 302 is disposed at an output end of the first motor 301, and is used for driving the connecting member 303 to move along the axial direction under the driving of the first motor 301. The connecting member 303 is connected to the supporting arm 5 for driving the supporting arm 5 to extend or retract.

Wherein, the axial direction is consistent with the axial direction of the horizontal well shaft. The first motor 301 may be connected to a cable below the ground.

Optionally, the first transmission shaft 302 is a lead screw, and the first transmission shaft 302 is in threaded connection with the connecting member 303.

In operation, the first motor 301 drives the first transmission shaft 302 to rotate, and since the first transmission shaft 302 is in threaded connection with the connecting member 303 and the first motor 301 is fixed in the housing 1, the connecting member 303 pushes or pulls the supporting arm 5 during the rotation of the first transmission shaft 302 (for example, when the first transmission shaft 302 rotates in the forward direction, the connecting member 303 pushes the supporting arm 5 to contract, and when the first transmission shaft 302 rotates in the reverse direction, the connecting member 303 pulls the supporting arm 5 to extend).

Further, in order to ensure that the connecting member 303 has a simple structure, the connection is tight. As shown in fig. 1, the connection member 303 includes: a platform 3031 and a connecting rod 3032. Wherein the platform 3031 is in threaded connection with the first transmission shaft 302. The two ends of the connecting rod 3032 are respectively connected with the platform 3031 and the supporting arm 5.

The platform 3031 may be a square plate structure, a circular plate structure, or the like. In order to ensure the structure to be stable, an internal thread hole matched with the screw rod can be arranged in the middle of the screw rod.

In order to ensure that the connecting rod 3032 is firmly connected with the supporting arm 5 and is convenient to mount and dismount, the connecting rod 3032 and the supporting arm 5 can be detachably connected. Specifically, the connecting rod 3032 may be screwed with the support arm 5, for example.

In order to ensure that the platform 3031 and the connecting rod 3032 are connected firmly, the platform 3031 and the connecting rod 3032 can be connected in a welding manner.

In the embodiment of the present invention, as shown in fig. 1, the second power assembly 4 includes: a second motor 401, a second drive shaft 402, a first gear, a plurality of second gears 403. Wherein the second electric machine 401 is fixed inside the housing 1. A second drive shaft 402 is provided at the output of the second motor 401. The first gear is sleeved on the second transmission shaft 402, the first gear, the plurality of second gears 403 and the roller 6 are sequentially in transmission connection, and the first gear is perpendicular to the axial directions of the plurality of second gears 403.

When the roller 6 needs to rotate in the shaft, the second motor 401 is used to drive the second transmission shaft 402 to rotate, and then the first gear, the plurality of second gears 403 and the roller 6 are driven to rotate in sequence.

Further, in order to save space and reduce cost, the support arm 5 may be configured as a hollow structure; and a plurality of second gears 403 are provided in the support arm 5.

In order to reduce the rotation speed and increase the torque of the first motor 301 in real time during the operation, the first power assembly 3 further includes: a first reducer 304. The first transmission shaft 302 is connected to the first motor 301 through a first reduction gear 304.

In order to reduce the rotation speed and increase the torque of the second motor 401 in real time during the operation, the second power assembly 4 further comprises: a second reducer 404. The second drive shaft 402 is connected to a second electric motor 401 via a second reduction gear 404.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A crawler, comprising: the device comprises a shell (1), a controller (2) arranged in the shell (1), a first power assembly (3), a second power assembly (4), a supporting arm (5), a roller (6) and a pressure sensor (7);

the pressure sensor (7) is arranged on the roller (6) and is electrically connected with the controller (2);

the controller (2) is used for receiving the pressure data transmitted by the pressure sensor (7) and controlling the first power assembly (3) to work according to the pressure data;

the first power assembly (3) is connected with the supporting arm (5) and is used for driving the supporting arm (5) to extend or retract;

the roller (6) is arranged at the end part of the supporting arm (5) and is used for abutting against the inner wall of the shaft;

the second power assembly (4) is used for driving the roller (6) to rotate.

2. The crawler according to claim 1, wherein the first power assembly (3) comprises: the device comprises a first motor (301), a first transmission shaft (302) and a connecting piece (303);

the first motor (301) is fixed in the shell (1);

the first transmission shaft (302) is arranged at the output end of the first motor (301) and is used for driving the connecting piece (303) to move along the axial direction under the driving of the first motor (301);

The connecting piece (303) is connected with the supporting arm (5) and used for driving the supporting arm (5) to extend or contract.

3. The creeper according to claim 2, wherein the first transmission shaft (302) is a lead screw, the first transmission shaft (302) being threadedly connected to the connector (303).

4. The crawler according to claim 3, wherein the connection means (303) comprise: a platform (3031) and a connecting rod (3032);

the platform (3031) is in threaded connection with the first transmission shaft (302);

two ends of the connecting rod (3032) are respectively connected with the platform (3031) and the supporting arm (5).

5. The creeper according to claim 4, characterized in that the connecting rod (3032) is removably connected to the supporting arm (5).

6. The creeper according to claim 4, wherein the platform (3031) and the connecting rod (3032) are connected by welding.

7. The crawler according to claim 1, wherein the second power assembly (4) comprises: a second motor (401), a second transmission shaft (402), a first gear, a plurality of second gears (403);

the second motor (401) is fixed in the shell (1);

the second transmission shaft (402) is arranged at the output end of the second motor (401);

The first gear is sleeved on the second transmission shaft (402), the first gear, the second gears (403) and the roller (6) are sequentially in transmission connection, and the first gear is perpendicular to the axial directions of the second gears (403).

8. The creeper according to claim 7, characterized in that the supporting arm (5) is a hollow structure;

a plurality of said second gears (403) are arranged inside said support arm (5).

9. The crawler according to claim 2, wherein the first power assembly (3) further comprises: a first reducer (304);

the first transmission shaft (302) is connected with the first motor (301) through the first speed reducer (304).

10. The creeper according to claim 7, wherein the second power assembly (4) further comprises: a second decelerator (404);

the second transmission shaft (402) is connected with the second motor (401) through the second speed reducer (404).